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Castor2026
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Hopeful fixes from the first round of tests

This commit is contained in:
Tyler Wilcox 2026-01-26 22:26:32 -05:00
parent 220f6b6488
commit 09a94fa6de
4 changed files with 139 additions and 26 deletions
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2
lib/RoboLib

@ -1 +1 @@
Subproject commit 604e9e7cc50187f8233916384f4a5c1640f0fdc9
Subproject commit bc53ef3b38fdbeee623ce0b188dbc7097b3cb405

97
simgui-ds.json Normal file
View File

@ -0,0 +1,97 @@
{
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
],
"povCount": 0
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
],
"povCount": 0
},
{
"axisCount": 0,
"buttonCount": 0,
"povCount": 0
}
],
"robotJoysticks": [
{
"guid": "030000004c050000cc09000011810000"
}
]
}

1
src/main/java/frc/robot/Robot.java
View File

@ -50,6 +50,7 @@ public class Robot extends LoggedRobot {
// String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
// Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
// Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
}
// Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in

65
src/main/java/frc/robot/RobotContainer.java
View File

@ -6,11 +6,13 @@ package frc.robot;
import org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive.SwerveBuilder;
import org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive.SwerveDriveSubsystem;
import org.fairportrobotics.frc.robolib.DriveSystems.SwerveDrive.SwerveModule;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.OperatorConstants;
@ -32,6 +34,8 @@ public class RobotContainer {
private final CommandXboxController m_driverController =
new CommandXboxController(OperatorConstants.kDriverControllerPort);
// private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
public static SwerveDriveSubsystem driveSubsystem;
private double driveP = 0.5;
@ -52,6 +56,8 @@ public class RobotContainer {
driveSubsystem = swerveBuilder
.withCanbusName("Drive")
.withPigeonId(20)
.withMaxLinearVelocity(3.0)
.withMaxAngularVelocity(Math.PI * 2)
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(12)
@ -63,7 +69,7 @@ public class RobotContainer {
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(10)
.withModuleLocation(new Translation2d(-1, 1))
.withModuleLocation(new Translation2d(1, 1))
.withModuleName("Front Left")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
@ -80,11 +86,27 @@ public class RobotContainer {
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(4)
.withModuleLocation(new Translation2d(1, 1))
.withModuleLocation(new Translation2d(1, -1))
.withModuleName("Front Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(8)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withSteerMotorId(2)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(7)
.withModuleLocation(new Translation2d(-1, 1))
.withModuleName("Back Left")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(9)
@ -95,25 +117,9 @@ public class RobotContainer {
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(4)
.withModuleLocation(new Translation2d(1, -1))
.withModuleName("Back Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
.withSwerveModule(
swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(8)
.withDriveKP(driveP)
.withDriveKI(driveI)
.withDriveKD(driveD)
.withSteerMotorId(2)
.withSteerKP(steerP)
.withSteerKI(steerI)
.withSteerKD(steerD)
.withSteerEncoderId(7)
.withSteerEncoderId(4) // TODO: Duplicate ID
.withModuleLocation(new Translation2d(-1, -1))
.withModuleName("Back Left")
.withModuleName("Back Right")
.withGearRatio(8.14)
.withWheelDiameter(0.1016)
.build())
@ -139,7 +145,7 @@ public class RobotContainer {
// Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
// cancelling on release.
m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
// m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
}
public Command getDriveCommand(){
@ -147,12 +153,21 @@ public class RobotContainer {
@Override
public void run() {
driveSubsystem.setChassisSpeedsFromJoystick(
m_driverController.getLeftX() * Math.abs(m_driverController.getLeftX()),
m_driverController.getLeftY() * Math.abs(m_driverController.getLeftY()),
m_driverController.getRightX() * Math.abs(m_driverController.getRightX()));
driveSubsystem.setChassisSpeedsFromJoystickFieldRelative(
-(m_driverController.getLeftY() * Math.abs(m_driverController.getLeftY())),
-(m_driverController.getLeftX() * Math.abs(m_driverController.getLeftX())),
-(m_driverController.getRawAxis(3) * Math.abs(m_driverController.getRawAxis(3))));
Logger.recordOutput("SwerveState", driveSubsystem.getModuleStates());
Logger.recordOutput("Pose Estimation", driveSubsystem.getRobotPose());
for(int i = 0;i<driveSubsystem.getNumberOfModules();i++){
SwerveModule mod = driveSubsystem.getModules()[i];
String modName = mod.getModuleName();
Logger.recordOutput(modName + " wheel speed", mod.getDriveWheelSpeed());
Logger.recordOutput(modName + " steer rotation", mod.getSteerRotations());
}
}
}, driveSubsystem);